interface MainMotorControl{
	command error_t setPWM(int16_t speed1, int16_t speed2, uint16_t time);
	
	command error_t setPID(int16_t speed1, int16_t speed2, uint16_t time);

	command void setParameters(int16_t cp, int16_t ci, uint16_t deltat);

// ... + time
// + distance

	event void stopped();
//	event void commandDone(error_t result);	
}
